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Nancy M. Amato
Researcher at University of Illinois at Urbana–Champaign
Publications - 273
Citations - 9552
Nancy M. Amato is an academic researcher from University of Illinois at Urbana–Champaign. The author has contributed to research in topics: Motion planning & Probabilistic roadmap. The author has an hindex of 51, co-authored 268 publications receiving 8988 citations. Previous affiliations of Nancy M. Amato include Texas A&M University & Google.
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Proceedings ArticleDOI
Reciprocally-Rotating Velocity Obstacles
TL;DR: Reciprocally-Rotating Velocity Obstacles (RRVO) is presented and it is shown empirically that it does not suffer from the deadlock issue ORCA has, permits agents to reach goals faster, and has a comparable collision rate at the cost of performance overhead quadratic in the (typically small) user-defined parameter δ.
Proceedings ArticleDOI
Metrics for analyzing the evolution of C-space models
Roger Pearce,Nancy M. Amato +1 more
TL;DR: This work proposes a metric that can be applied to each new sample considered by a sampling-based planner to characterize how that sample improves, or not, the planner's current C-space model, and shows how this characterization can be used to analyze and compare how different planning strategies explore the configuration space.
Proceedings ArticleDOI
Lazy Toggle PRM: A single-query approach to motion planning
TL;DR: The effectiveness of Lazy Toggle PRM in a wide range of scenarios, including those with narrow passages and high descriptive complexity, is demonstrated, concluding that it is more effective than existing methods in solving difficult queries.
Proceedings ArticleDOI
Localization based on visibility sectors using range sensors
TL;DR: A localization method using range sensor data which is based on simple geometric properties of the environment which allows precise localization without any landmarks from any configuration in the environment.